An Installation Angle Error Calibration Method in an Ultra-Short Baseline System Based on a Dual Transponder

Abstract The installation error of an acoustic transceiver array is one the important sources in ultra-short baseline (USBL) system. In a USBL system with positioning accuracy 0.5%, angle 1° will lead to 1.7% times slant distance. this paper, dual transponder-based calibration method for proposed. First, errors induced by various angles are deduced and analysed using linear measurement seafloor targets. Then, iterative algorithm proposed that estimates rolling alignment error, pitching heading order. simulation experienced results show that, after three iterations, can converge quickly, all within 0.001° estimated values very close true values. horizontal caused be reduced nearly 75%. has good effectiveness robustness, greatly improve